Yongming Wang,∗ Xiaomin Wang,∗∗ and Weiqi Hong∗∗∗
Inspection robot, high-voltage line, mechanical analysis, prototype experiment ∗ Anhui Province Engineering Laboratory of Intelligent Demolition Equipment, China International Science and Technology Coop- eration Base on Intelligent Equipment Manufacturing in Special Service Environment and School of Mechanical Engineering, Anhui University of Technology, Maanshan, China; e-mail: [email protected]; [email protected]; [email protected] Corresponding author: Yongming Wang
Aiming at the existing problems of high-voltage inspection robots such as excessive quality and complicated obstacle crossing, a new type of high-voltage inspection robot was designed, which could adapt to different high-voltage line diameters. The robot is composed of a detection box, a camera system, and three identical robotic arms. A curved driving wheel and four supporting wheels are installed on each arm to realise three-point arc clamping of the high-voltage line. Each robotic arm is equipped with a driving motor, and the three robotic arms cross the obstacle in turn. The geometric model of the position relationship of each hinge point was established, and the analysis showed that the radius of the high-voltage line that the robot can adapt to is 11.3∼36.7 mm. The clamping state of a single mechanical arm was analysed, and the minimum holding force of the electric push rod installed on each mechanical arm was calculated to be 121.3 N. The force analysis of the single arm wheel group under the obstacle crossing state was carried out, and the torque of each drive motor was calculated to be no less than 0.734 Nm. Finally, a physical model prototype of the robot was developed, and its adaptability, climbing, and obstacle-crossing abilities on high- voltage lines were tested. The experimental results showed that the robot’s maximum running speed was 10 m/min, and it could run smoothly on simulated high-voltage line with radii of 15 mm, 20 mm, and 25 mm, and inclination angle of 0◦ ∼45◦, demonstrating a good obstacle-crossing ability.
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